TWI677408B - Tool, operation management device, operation management method and operation management system - Google Patents
Tool, operation management device, operation management method and operation management system Download PDFInfo
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41805—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by assembly
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
- B25B23/145—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers
- B25B23/1456—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers specially adapted for fluid operated wrenches or screwdrivers having electrical components
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/08—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving optical means for indicating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/24—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for determining value of torque or twisting moment for tightening a nut or other member which is similarly stressed
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B2219/31027—Computer assisted manual assembly CAA, display operation, tool, result
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- G05B2219/45—Nc applications
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45203—Screwing
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- G06T2207/30148—Semiconductor; IC; Wafer
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- G—PHYSICS
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- G06T2207/30204—Marker
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
[課題] 提供附扭力感測器的工具,其適合在組裝時需要多數個連結零件,且,可對連結零件施工的空間為狹窄的流體控制裝置般之裝置之連結零件的鎖固作業,並使鎖固扭力的檢測自動化。
[解決手段] 一種工具(1),是具備扭力感測器(30),其可檢測出作用於工具頭(20)之將連結零件予以鎖固的鎖固扭力,扭力感測器(30),是當所檢測出的鎖固扭力超過設定閾值(Th)時開始鎖固扭力的測定,當所檢測出的鎖固扭力低於設定閾值(Th),且,經過設定時間(T1)的話則結束測定,將基於測定開始至測定結束為止之間的測定資料來形成且含有測定時刻的扭力相關資料予以輸出。扭力相關資料,是含有測定資料之中的峰值。[Question] Provide a tool with a torque sensor, which is suitable for assembling a large number of connection parts during assembly, and can lock the connection parts of a device such as a fluid control device with a narrow construction space. Automates detection of locking torque.
[Solution] A tool (1) is provided with a torque sensor (30), which can detect the locking torque acting on the tool head (20) to lock the connected parts, and the torque sensor (30) Is the measurement of the locking torque when the detected locking torque exceeds the set threshold (Th). When the detected locking torque is below the set threshold (Th), and the set time (T1) elapses, The measurement is completed, and the torque-related data formed based on the measurement data between the start of the measurement and the end of the measurement and including the measurement time is output. The torque-related data includes the peak value among the measured data.
Description
本發明,是關於作業管理裝置、作業管理方法、以及作業管理系統,其管理:在含有多數螺栓等之連結零件的裝置中,在連結零件之鎖固作業所使用之附扭力感測器的工具及使用該工具的鎖固作業。The present invention relates to a work management device, a work management method, and a work management system, which manages a tool with a torque sensor used in a device including a large number of bolts and the like, and used to lock the bolts. And the locking operation using this tool.
半導體製造製程等之各種製造製程中,為了將正確地計量的製程氣體供給至製程腔室,使用有將開閉閥、調節器、質量流量控制器等之各種流體機器予以積體化的流體控制裝置(例如參照專利文獻1)。
如上述般之流體控制裝置的組裝工程中,有必要進行龐大數量之六角孔螺栓等之連結零件的鎖固作業,且,要求著高組裝品質。
[先前技術文獻]
[專利文獻]In various manufacturing processes such as semiconductor manufacturing processes, in order to supply accurately measured process gas to the process chamber, a fluid control device that integrates various fluid devices such as an on-off valve, a regulator, and a mass flow controller is used. (For example, refer to Patent Document 1).
In the assembly process of the fluid control device as described above, it is necessary to perform a locking operation of a large number of hexagonal hole bolts and other connecting parts, and high assembly quality is required.
[Prior technical literature]
[Patent Literature]
[專利文獻1]日本特開2007-003013號公報
[專利文獻2]日本特開2013-188858號公報
[專利文獻3]日本特開2015-229210號公報
[專利文獻4]日本特開2013-852號公報
[專利文獻5]日本特開2008-181344號公報[Patent Document 1] Japanese Patent Laid-Open No. 2007-003013
[Patent Document 2] Japanese Patent Laid-Open No. 2013-188858
[Patent Document 3] Japanese Patent Laid-Open No. 2015-229210
[Patent Document 4] Japanese Patent Laid-Open No. 2013-852
[Patent Document 5] Japanese Patent Laid-Open No. 2008-181344
[發明所欲解決的課題][Problems to be Solved by the Invention]
專利文獻2是揭示出,利用來自設在扭力扳手的加速度感測器、陀螺儀感測器、地磁氣感測器等之感測器的訊號,而自動地檢測出進行鎖固之連結零件的位置來管理鎖固位置的技術。
專利文獻3是揭示出,將工具所進行的作業部位以拍攝裝置來拍攝,並基於該拍攝畫面資料與來自附加於工具的扭力感測器等之感測器的資料來判斷是否正常進行作業的技術。
專利文獻4是揭示出,在工件的上方設置拍攝裝置,在對工件以鎖固工具實施鎖固作業之際,從拍攝資料檢測出賦予至鎖固工具之事先登錄的識別標記的有無,藉此檢測出實施了鎖固作業的技術。
專利文獻5是揭示出,在含有使用道具進行複數個作業的產品之製造工程中,特定出在產品的哪個位置進行作業的技術。具體來說,在一個前述作業結束時,以所輸出之結束訊號的收訊為契機,拍攝複數個圖像,由該等之圖像來檢測出表示作業結束位置的作業結束座標,而取得應該進行作業的位置亦即表示作業位置的作業座標,並基於作業結束座標與作業座標,來特定出複數個作業各自的作業位置之中是哪個對應於作業結束位置。Patent Document 2 discloses that signals from sensors such as an acceleration sensor, a gyro sensor, and a geomagnetic gas sensor provided in a torque wrench are used to automatically detect the connected parts for locking. Position to manage the locking position.
Patent Document 3 discloses that a work site performed by a tool is captured by an imaging device, and whether or not the work is normally performed is determined based on the data of the shooting screen and data from a sensor such as a torque sensor attached to the tool. technology.
Patent Document 4 discloses that a photographing device is provided above a workpiece, and when a workpiece is locked with a locking tool, the presence or absence of an identification mark provided in advance to the locking tool is detected from the photographic data, whereby Detects the technology that performed the locking operation.
Patent Document 5 discloses a technique for specifying a position of a product in a manufacturing process of a product including a plurality of operations using props. Specifically, at the end of one of the aforementioned operations, taking the output of the output end signal as an opportunity, a plurality of images are captured, and the end-of-operation coordinates indicating the end-of-operation position are detected from these images, and the corresponding The position where the work is performed is the work coordinate indicating the work position, and based on the work end coordinate and the work coordinate, it is specified which of the work positions of the plurality of jobs corresponds to the work end position.
上述的流體控制裝置,是不斷進展著小型化、積體化,螺栓等之鎖固構件亦短小化,此外,流體機器之間的空間為狹小化。因此,螺栓等之鎖固構件的鎖固作業,是使用工具來進行,該工具是在握把所具備的工具頭保持部安裝細長的工具頭。例如,在只能通過流體機器間之狹小空間來施工的部位之連結零件的鎖固作業,是對該狹小空間***工具之僅工具頭的部分,將工具頭的姿勢予以適當調整來將工具頭前端部咬合於連結零件,而從遠離流體機器的位置操作握把來使工具頭旋轉。
但是,若要使這種工具持有專利文獻2所揭示之鎖固位置的檢測功能的話,有必要安裝將各種感測器或CPU等予以內藏的殼體。在由握把與工具頭所成的工具安裝將各種感測器或CPU等予以內藏的殼體是很困難的,即使能將殼體安裝於工具,殼體亦會成為阻礙而使工具的操作性顯著降低。此外,若安裝多數個感測器的話,工具的製造成本會變高。
在專利文獻3、4的技術,是難以確實地拍攝到***至流體機器之間之狹小空間的工具頭之前端部或鎖固位置,在拍攝中,操作者的手或工具的握把會進入拍攝區域,而擋住作業部位或鎖固位置。
在專利文獻5,雖可特定作業位置,但無法得到將螺絲予以鎖固之實際的扭力資料。此外,在螺絲鎖固等之鎖固作業中,作業員有時會多次重新鎖固,故並不容易產生適當的結束訊號。甚至,因為將1個螺絲予以鎖固的時間短為數秒,且1個螺絲與相鄰的螺絲之間的間隔較小,故並不容易僅由圖像來特定出作業結束。The above-mentioned fluid control device is continuously miniaturized and integrated, and the locking members such as bolts are also shortened. In addition, the space between the fluid devices is reduced. Therefore, the locking operation of the locking member such as a bolt is performed using a tool, which is an elongated tool head attached to a tool head holding portion provided in the grip. For example, the locking of connecting parts in parts that can only be constructed through a narrow space between fluid machines is to insert only the tool head of the tool into the narrow space, and adjust the posture of the tool head to adjust the tool head appropriately. The front end portion is engaged with the connecting part, and the grip is operated from a position remote from the fluid machine to rotate the tool head.
However, in order for such a tool to have the lock position detection function disclosed in Patent Document 2, it is necessary to install a case in which various sensors, a CPU, and the like are built in. It is difficult to install a housing with various sensors, CPUs, etc. built into the tool made of the grip and the tool head. Even if the housing can be mounted on the tool, the housing will become a hindrance to the tool. Operability is significantly reduced. In addition, if a plurality of sensors are installed, the manufacturing cost of the tool becomes high.
In the technologies of Patent Documents 3 and 4, it is difficult to reliably capture the front end or the locking position of the tool head inserted into a narrow space between fluid devices. During the shooting, the operator's hand or the grip of the tool may enter The shooting area, while blocking the work site or locking position.
In Patent Document 5, although the working position can be specified, the actual torque data for locking the screw cannot be obtained. In addition, in screwing operations such as screw locking, the operator sometimes relocks several times, so it is not easy to generate an appropriate end signal. Furthermore, since the time required to lock one screw is only a few seconds, and the distance between one screw and an adjacent screw is small, it is not easy to identify the end of the operation from the image alone.
本發明的一個目的,是提供附扭力感測器的工具,其適合在組裝時需要多數個連結零件,且,可對連結零件施工的空間為狹窄的流體控制裝置般之裝置之連結零件的鎖固作業,並使鎖固扭力的檢測自動化。
本發明的其他目的,是提供作業管理裝置、作業管理方法及作業管理系統,其在使用上述之附扭力感測器的工具的鎖固作業中,針對所有連結零件可正確地管理位置或鎖固扭力等的資訊。
[用以解決課題的手段]An object of the present invention is to provide a tool with a torque sensor, which is suitable for assembling a large number of connecting parts during assembly, and can lock the connecting parts of a device such as a fluid control device with a narrow construction space for the connecting parts. Fixing operation and automate the detection of locking torque.
Another object of the present invention is to provide a work management device, a work management method, and a work management system, which can accurately manage the position or lock of all connected parts during the lock operation using the above-mentioned tool with a torque sensor. Torque, etc.
[Means to solve the problem]
本發明的工具,是具備扭力感測器,其可檢測出作用於工具頭之將連結零件予以鎖固的鎖固扭力,
前述扭力感測器,是當所檢測出的鎖固扭力超過設定閾值時開始鎖固扭力之測定資料的記錄,當所檢測出的鎖固扭力低於前述設定閾值,且,經過設定時間的話則結束測定,將基於測定開始至測定結束為止之間的測定資料來形成且含有測定時刻的扭力相關資料予以輸出。The tool of the present invention is provided with a torque sensor, which can detect the locking torque acting on the tool head to lock the connecting parts,
The aforementioned torque sensor is a record of the measurement data of the locking torque when the detected locking torque exceeds a set threshold. When the detected locking torque is lower than the set threshold, and if the set time elapses, then The measurement is completed, and the torque-related data formed based on the measurement data between the start of the measurement and the end of the measurement and including the measurement time is output.
較佳可採用以下構造:前述扭力相關資料,是含有前述測定資料之中的峰值,前述扭力相關資料,是含有測定資料的日期時間資訊及測定資料之際的溫度資訊,且,工具是具備圖像處理用的至少第1及第2標記。Preferably, the following structure may be adopted: the aforementioned torque-related data includes a peak value among the aforementioned measurement data, the aforementioned torque-related data includes date and time information of the measurement data and temperature information at the time of the measurement data, and the tool is provided with a graph At least the first and second marks for image processing.
本發明的作業管理裝置,是使用上述構造之工具,來管理將產品所含的複數個連結零件的各個予以鎖固的鎖固作業,
當收到前述扭力相關資料時,從在一個連結零件的鎖固作業中由複數個視角所拍攝之前述工具的複數個圖像之中,抽出與前述扭力相關資料所含的測定時刻對應之複數個圖像來處理,並檢測出與前述一個連結零件卡合之前述工具頭的卡合位置。The work management device of the present invention uses the tool having the above-mentioned structure to manage a locking operation for locking each of a plurality of connected parts included in a product.
When the torque-related information is received, from the plurality of images of the tool captured from a plurality of perspectives during the locking operation of a connected part, a plurality of numbers corresponding to the measurement time contained in the torque-related data are extracted. An image is processed, and the engagement position of the tool head engaged with the one connected part is detected.
本發明的作業管理方法,是使用上述構造之工具,來管理將產品所含的複數個連結零件的各個予以鎖固的鎖固作業,
當收到前述扭力相關資料時,從在一個連結零件的鎖固作業中由複數個視角所拍攝之前述工具的複數個圖像之中,抽出與前述扭力相關資料所含的測定時刻對應之複數個圖像來處理,並檢測出與前述一個連結零件卡合之前述工具頭的卡合位置。The operation management method of the present invention uses the above-mentioned structured tool to manage the locking operation of locking each of a plurality of connected parts included in the product.
When the torque-related information is received, from the plurality of images of the tool captured from a plurality of perspectives during the locking operation of a connected part, a plurality of numbers corresponding to the measurement time contained in the torque-related data are extracted. An image is processed, and the engagement position of the tool head engaged with the one connected part is detected.
本發明的作業管理系統,是管理將產品所含的複數個連結零件的各個予以鎖固的鎖固作業,
其具有工具,該工具具備:扭力感測器,其可檢測出作用於工具頭之將連結零件予以鎖固的鎖固扭力;以及圖像處理用的第1及第2標記,
前述扭力感測器,是當所檢測出的鎖固扭力超過設定閾值時開始鎖固扭力之測定資料的記錄,當所檢測出的鎖固扭力低於前述設定閾值,且,經過設定時間的話則結束測定,將基於測定開始至測定結束為止之間的測定資料來形成的扭力相關資料予以輸出,
且具有:第1及第2拍攝裝置,是對前述產品配置在既定的位置,以至少含有前述第1及第2標記的方式,且,從彼此不同的視角來拍攝鎖固作業中之前述工具的圖像;
記憶裝置,其儲存前述第1及第2拍攝裝置之拍攝的圖像;以及
處理裝置,當收到前述扭力相關資料時,從在一個連結零件的鎖固作業中由複數個視角所拍攝之儲存於前述記憶裝置的前述工具的複數個圖像之中,抽出與前述扭力相關資料所含的測定時刻對應之複數個圖像來處理,並檢測出與前述一個連結零件卡合之前述工具頭的卡合位置。
[發明的效果]The operation management system of the present invention manages a locking operation that locks each of a plurality of connected parts included in a product.
It has a tool, which includes: a torque sensor that can detect a locking torque acting on a tool head to lock a connected part; and first and second marks for image processing,
The aforementioned torque sensor is a record of the measurement data of the locking torque when the detected locking torque exceeds a set threshold. When the detected locking torque is lower than the set threshold, and if the set time elapses, then End the measurement and output the torque-related data based on the measurement data between the start of the measurement and the end of the measurement.
In addition, the first and second photographing devices are arranged at predetermined positions on the product, and include at least the first and second marks, and photograph the aforementioned tools in the locking operation from different perspectives. Image;
A memory device that stores images captured by the first and second photographing devices; and a processing device that, when receiving the aforementioned torque-related data, stores images captured from a plurality of perspectives during a locking operation of a connected part Among the plurality of images of the tool of the memory device, extract a plurality of images corresponding to the measurement time contained in the torque-related data for processing, and detect the tool head that is engaged with the one connected part. Snap-in position.
[Effect of the invention]
根據本發明,可得到附扭力感測器的工具,其適合在可對連結零件施工的空間為狹窄的流體控制裝置般之裝置之連結零件的鎖固作業,並使鎖固扭力的檢測自動化。
根據本發明,可針對流體控制裝置般之裝置的所有連結零件,正確地管理位置或鎖固扭力等的資訊。According to the present invention, a tool with a torque sensor can be obtained, which is suitable for the locking operation of the connecting parts of a device such as a fluid control device where the space for connecting parts can be narrow, and the detection of the locking torque can be automated.
According to the present invention, it is possible to accurately manage information such as a position, a locking torque, and the like for all connected parts of a device such as a fluid control device.
以下,針對本發明的實施形態參照圖式進行說明。又,本說明書及圖式中,對於功能實質相同的構成要件,是使用相同符號而省略重複的說明。
圖1,是表示本發明之一實施形態的作業管理系統,該系統,具有:作為工具的起子1、作為處理裝置的個人電腦(以下稱為PC)300、作為拍攝裝置的攝影機400A、400B。在圖1中,產品亦即氣體箱500的內部是省略,但圖2及圖3所示之流體控制裝置200是設置在底面500b。亦即,是在流體控制裝置200被收容在氣體箱500內的狀態下實施組裝作業。又,圖1的箭頭A1是表示水平面內的橫方向,箭頭A2是表示水平面內的縱方向。Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this specification and the drawings, constituent elements having substantially the same function are denoted by the same reference numerals, and redundant descriptions are omitted.
FIG. 1 shows a work management system according to an embodiment of the present invention. The system includes a driver 1 as a tool, a personal computer 300 (hereinafter referred to as a PC) as a processing device, and cameras 400A and 400B as imaging devices. In FIG. 1, the inside of the product, that is, the gas tank 500 is omitted, but the fluid control device 200 shown in FIGS. 2 and 3 is provided on the bottom surface 500b. That is, the assembly operation is performed in a state where the fluid control device 200 is housed in the gas tank 500. An arrow A1 in FIG. 1 indicates a horizontal direction in the horizontal plane, and an arrow A2 indicates a vertical direction in the horizontal plane.
圖2、3所示的流體控制裝置200,是使用來對半導體製造裝置等的反應器供給各種氣體,在基座板金BS上,複數(圖中為3列)並列有流體控制組件,其由各自沿著長度方向配置之由自動閥或質量流量控制器所成的各種流體機器210、220、230、240、280、250所構成。
設在基座板金BS上的複數個接頭塊260、270是具備將各種流體機器間予以連接的流路。流體機器的主體與接頭塊260、270,是以作為鎖固零件的六角孔螺栓BT來連結。
起子1,是使用於六角孔螺栓BT的鎖固作業。若各種流體機器積體化時,在鎖固六角孔螺栓BT之際,為了不使流體機器與起子1的工具頭干涉,有著對六角孔螺栓BT使起子1傾斜來鎖固的情況。這種作業對於多數的六角孔螺栓BT來說是難以用正確的鎖固扭力來實施。The fluid control device 200 shown in FIGS. 2 and 3 is used to supply various gases to a reactor such as a semiconductor manufacturing device. On the base metal plate BS, a plurality of fluid control components (three columns in the figure) are arranged in parallel. Various fluid machines 210, 220, 230, 240, 280, and 250 each formed by an automatic valve or a mass flow controller are arranged along the length direction.
The plurality of joint blocks 260 and 270 provided on the base plate metal BS are provided with flow paths for connecting various fluid devices. The main body of the fluid machine and the joint blocks 260 and 270 are connected by a hexagonal bolt BT as a locking component.
Screwdriver 1 is used for the locking operation of hexagon bolt BT. When various fluid devices are integrated, when the hexagonal hole bolt BT is locked, the hexagonal hole bolt BT may be tilted and locked to prevent the fluid device from interfering with the tool head of the screwdriver 1. This operation is difficult for most hexagonal bolts BT to perform with accurate locking torque.
回到圖1,攝影機400A,其視角是朝向橫方向A1,如後述般,配置在可拍攝到設在工具1之標記的位置。攝影機400B,其視角是朝向縱方向A2,如後述般,配置在可拍攝到設在工具1之標記的位置。攝影機400A、400B,可用既定的影格率來拍攝,所拍攝的圖像資料是作為無線訊號傳送至PC300並儲存。攝影機400A、400B,是設置在氣體箱500的外部,故在起子1之六角孔螺栓BT的鎖固作業中,會有起子1之工具頭的前端位置及六角孔螺栓BT無法進入至攝影機400A、400B之視野的情況。Returning to FIG. 1, the angle of view of the camera 400A is the horizontal direction A1, and as will be described later, the camera 400A is disposed at a position where a mark provided on the tool 1 can be captured. The camera 400B has a viewing angle toward the longitudinal direction A2, and is arranged at a position where a mark provided on the tool 1 can be captured as described later. The cameras 400A and 400B can be shot at a predetermined frame rate. The captured image data is transmitted to the PC300 as a wireless signal and stored. The cameras 400A and 400B are installed on the outside of the gas box 500. Therefore, during the locking operation of the hexagonal bolt BT of the screwdriver 1, the front end position of the tool head of the driver 1 and the hexagonal bolt BT cannot enter the camera 400A 400B vision.
於圖4A~圖4D表示起子1的構造。
起子1,具有:握把10、工具頭20、扭力感測器30。起子1是使用於六角孔螺栓(連結零件)的連結,在最大鎖固扭力為10N・m以下的範圍使用,但並不限定於此。
連結零件,是使用有六角孔螺栓、六角螺栓、十字槽螺絲等,但並不限於此。
握把10,是如圖4B所示般,為由樹脂等之材料所成之圓柱狀的構件,其具有:於外周面形成有止滑用之複數條溝的本體部11、形成在前端部之圓筒狀的工具頭保持部12、形成在本體部11與工具頭保持部12之間且將扭力感測器30安裝成裝卸自如的感測器安裝部13。於工具頭保持部12,形成有由剖面為正六角形狀的盲孔所成的保持孔12a,在此***保持有工具頭20。補助棒19,是設置成與握把10正交。在握把10設置補助棒19,藉此可用手動來產生更大的扭緊扭力。The structure of the driver 1 is shown in FIGS. 4A to 4D.
The screwdriver 1 includes a grip 10, a tool head 20, and a torque sensor 30. The screwdriver 1 is used for the connection of hexagon bolts (connecting parts), and is used in a range where the maximum locking torque is 10 N · m or less, but it is not limited to this.
The connecting parts include, but are not limited to, hexagonal bolts, hexagonal bolts, and cross recessed screws.
The grip 10 is a cylindrical member made of a material such as resin, as shown in FIG. 4B. The grip 10 has a main body portion 11 formed with a plurality of grooves for slip prevention on an outer peripheral surface, and a front end portion. The cylindrical tool head holding portion 12 is formed between the main body portion 11 and the tool head holding portion 12 and mounts the torque sensor 30 as a detachable sensor mounting portion 13. A holding hole 12 a formed by a blind hole having a regular hexagonal cross section is formed in the tool head holding portion 12, and the tool head 20 is inserted and held therein. The auxiliary rod 19 is disposed orthogonally to the grip 10. An auxiliary rod 19 is provided on the grip 10, whereby a greater tightening torque can be generated manually.
工具頭20,是如圖4C所示般,具有:可***保持於上述握把10之工具頭保持部12且剖面為正六角形狀的基端部22、與基端部22為相反側的前端部21、在基端部22與前端部21之間延伸的軸部23。前端部21及軸部23之六角形狀的剖面是形成相同尺寸。前端部21及軸部23的剖面積,是比基端部22還小。前端部21卡合至六角孔螺栓的六角孔。軸部23之靠基端部22的一部分,是成為被扭力感測器30檢測的被檢測部24。
工具頭20,具體來說,是以碳鋼、鎳鉻鉬鋼、鉻釩鋼等之合金鋼所形成。
於被檢測部24,形成有磁致伸縮材料,為了提高檢測感應度,例如施有Ni(40%)-Fe(60%)的鍍敷。
工具頭20的尺寸,例如,內接於基端部22之剖面的圓之直徑為10mm以下,內接於軸部23之剖面的圓之直徑為4mm左右,全長為200mm左右,但並不限定於此,可考量到作業性、操作性來適當選擇。
工具頭20,是使軸部23與被檢測部24形成一體亦可,成為可分割亦可。As shown in FIG. 4C, the tool head 20 has a base end portion 22 that can be inserted into and held in the tool head holding portion 12 of the grip 10 and has a regular hexagonal cross section, and a front end opposite to the base end portion 22. A portion 21 and a shaft portion 23 extending between the base end portion 22 and the front end portion 21. The hexagonal cross sections of the tip portion 21 and the shaft portion 23 are formed to have the same size. The cross-sectional areas of the front end portion 21 and the shaft portion 23 are smaller than those of the base end portion 22. The front end portion 21 is engaged with a hexagonal hole of a hexagonal hole bolt. A portion of the shaft portion 23 near the base end portion 22 is a detected portion 24 that is detected by the torque sensor 30.
The tool head 20 is specifically formed of an alloy steel such as carbon steel, nickel-chromium-molybdenum steel, and chromium-vanadium steel.
A magnetostrictive material is formed on the detected portion 24. In order to increase the detection sensitivity, for example, Ni (40%)-Fe (60%) plating is applied.
The size of the tool head 20, for example, the diameter of a circle inscribed in the cross section of the base end portion 22 is 10 mm or less, the diameter of a circle inscribed in the cross section of the shaft portion 23 is about 4 mm, and the total length is about 200 mm, but it is not limited. Here, it can be appropriately selected in consideration of workability and operability.
The tool head 20 may be integral with the shaft portion 23 and the detected portion 24, or may be divided.
扭力感測器30,是如圖4D所示般,具有:殼體部31、安裝部32、檢測部33、電路收容部35。
檢測部33,是在其中心部形成有貫通孔33a,將工具頭20貫通至該貫通孔33a內。於檢測部33的內部,以界定貫通孔33a之一部分的方式形成有圓筒狀的線圈保持部33b,於外周面設有激磁、檢測用的線圈36。將檢測部33予以貫通的工具頭20之被檢測部24,是被線圈36給包圍外周。
殼體部31、安裝部32、檢測部33是藉由樹脂材料而形成為一體,在殼體部31的內部形成有空洞39。空洞39,可通過安裝部32來收容握把10的工具頭保持部12。
形成為圓筒狀的安裝部32,是使握把10的感測器安裝部13嵌合於內周,且藉由未圖示的螺絲構件,來固定於感測器安裝部13。
電路收容部35,是如後述般,將由微型電腦、記憶體、電池、外部輸入輸出電路、通訊電路、扭力檢測用的各種電路等所構成的硬體予以收容,並藉由儲存在記憶體之需要的軟體來動作。As shown in FIG. 4D, the torque sensor 30 includes a housing portion 31, a mounting portion 32, a detection portion 33, and a circuit accommodation portion 35.
The detection portion 33 has a through-hole 33a formed in a center portion thereof, and penetrates the tool head 20 into the through-hole 33a. A cylindrical coil holding portion 33b is formed inside the detection portion 33 so as to define a part of the through hole 33a, and a coil 36 for excitation and detection is provided on the outer peripheral surface. The detected portion 24 of the tool head 20 penetrating the detection portion 33 is surrounded by a coil 36.
The case portion 31, the mounting portion 32, and the detection portion 33 are integrally formed by a resin material, and a cavity 39 is formed inside the case portion 31. The cavity 39 can receive the tool head holding portion 12 of the handle 10 through the mounting portion 32.
The cylindrical mounting portion 32 is formed by fitting the sensor mounting portion 13 of the grip 10 to the inner periphery and fixing the sensor mounting portion 13 with a screw member (not shown).
The circuit accommodating unit 35 stores hardware including a microcomputer, a memory, a battery, an external input / output circuit, a communication circuit, various circuits for detecting torque, and the like, as described later, and stores the hardware in the memory. Software required to operate.
起子1,是在將工具頭20安裝於握把10的狀態之後而可安裝扭力感測器30。因此,若握把10及工具頭20為以往所使用之泛用的工具的話,藉由追加扭力感測器30,而可不損及工具的作業性、操作性而檢測出作用於工具頭20的扭力。
又,在本實施形態,雖示例出可追加扭力感測器30的情況,但亦可採用事先將扭力感測器30安裝於握把10,並在之後將工具頭20安裝於握把10的構造。The screwdriver 1 is capable of mounting the torque sensor 30 after the tool head 20 is mounted on the grip 10. Therefore, if the grip 10 and the tool head 20 are general-purpose tools used in the past, the torque sensor 30 can be added to detect the effect on the tool head 20 without impairing the workability and operability of the tool. Torque.
Moreover, in this embodiment, although the case where the torque sensor 30 can be added is exemplified, the torque sensor 30 can be attached to the grip 10 in advance, and the tool head 20 can be attached to the grip 10 afterwards. structure.
圖5A,是扭力感測器30的電路圖。
在圖5A中,50是激磁線圈,51是檢測線圈,52是將與扭力成比例的電壓予以輸出的類比電路,53是DC、DC轉換器,54是比較器,55是基準電壓設定電路。60是微型電腦(以下稱微電腦),61是類比-數位轉換器(以下稱ADC),62是溫度感測器,63是實際時間計時器,64是串列匯流排,65是通訊模組,66是唯讀記憶體(ROM),67是資料輸入端子,68是記憶卡,69是重置IC,70是DC、DC轉換器,71是校準開關,72是電源開關,73是電池,74是充電控制電路,75是充電連接器。FIG. 5A is a circuit diagram of the torque sensor 30.
In FIG. 5A, 50 is an excitation coil, 51 is a detection coil, 52 is an analog circuit that outputs a voltage proportional to the torque, 53 is a DC / DC converter, 54 is a comparator, and 55 is a reference voltage setting circuit. 60 is a microcomputer (hereinafter referred to as a microcomputer), 61 is an analog-to-digital converter (hereinafter referred to as an ADC), 62 is a temperature sensor, 63 is a real time timer, 64 is a serial bus, 65 is a communication module, 66 is read-only memory (ROM), 67 is data input terminal, 68 is memory card, 69 is reset IC, 70 is DC, DC converter, 71 is calibration switch, 72 is power switch, 73 is battery, 74 Is a charge control circuit, and 75 is a charge connector.
在此,將圖5A的激磁線圈50、檢測線圈51及類比電路52之類比電路部分的功能方塊圖示於圖5B。
扭力感測器30,具有:振盪電路110、緩衝放大器120、相位調整電路130、V-I轉換器140、逆變器160、同步檢波電路170、及反相放大器180。
(激磁側)
振盪電路110,是產生將激磁線圈50予以激磁的基準頻率訊號(例如100kHz)。
由振盪電路110對激磁側電路輸出正弦波的訊號,但為了使振盪電路110穩定動作,是經由緩衝放大器120來輸出至相位調整電路130。
相位調整電路130,是調整波形的相位,並輸出至V-I轉換器140。
V-I轉換器140,是將輸入電壓變換為電流,並輸出至激磁線圈50。
(檢測側)
檢測線圈51,是將因反磁致伸縮效應而產生的感應電壓予以輸出至同步檢波電路170。
從振盪電路110往檢測側,輸出有作為參考訊號的矩形波。該矩形波的頻率,是與往激磁側輸出的正弦波相同。所輸出的矩形波是分歧為2個,一方是直接往同步檢波電路170輸出,另一方是在逆變器160反轉相位並往同步檢波電路170輸出。
同步檢波電路170,是參考參考訊號,而將來自檢測線圈51的感應電壓予以同步檢波,並往反相放大器180輸出。
反相放大器180,是將來自同步檢波電路170的輸出予以平均化,並進行偏移調整、增益調整,而作為類比的扭力訊號SG來輸出至ADC61。同步檢波電路170及反相放大器180,是構成上述的類比電路52。Here, functional block diagrams of the analog circuit portions of the excitation coil 50, the detection coil 51, and the analog circuit 52 of FIG. 5A are shown in FIG. 5B.
The torque sensor 30 includes an oscillation circuit 110, a buffer amplifier 120, a phase adjustment circuit 130, a VI converter 140, an inverter 160, a synchronous detection circuit 170, and an inverting amplifier 180.
(Excitation side)
The oscillating circuit 110 generates a reference frequency signal (for example, 100 kHz) for exciting the exciting coil 50.
The oscillating circuit 110 outputs a sine wave signal to the excitation-side circuit. However, in order to make the oscillating circuit 110 operate stably, it is output to the phase adjustment circuit 130 via the buffer amplifier 120.
The phase adjustment circuit 130 adjusts the phase of the waveform and outputs it to the VI converter 140.
The VI converter 140 converts an input voltage into a current and outputs the current to the exciting coil 50.
(Detection side)
The detection coil 51 outputs an induced voltage generated by the inverse magnetostrictive effect to the synchronous detection circuit 170.
From the oscillation circuit 110 to the detection side, a rectangular wave is output as a reference signal. The frequency of this rectangular wave is the same as the sine wave output to the excitation side. The output rectangular waves are divided into two, one of which is directly outputted to the synchronous detection circuit 170, and the other is inverted at the inverter 160 and outputted to the synchronous detection circuit 170.
The synchronous detection circuit 170 refers to a reference signal and synchronously detects the induced voltage from the detection coil 51 and outputs the detected voltage to the inverting amplifier 180.
The inverting amplifier 180 averages the output from the synchronous detection circuit 170, performs offset adjustment and gain adjustment, and outputs the analog torque signal SG to the ADC 61. The synchronous detection circuit 170 and the inverting amplifier 180 constitute the analog circuit 52 described above.
如上述般,在扭力感測器30,是將工具頭20之作用於被檢測部的扭力變化,作為形成工具頭20的磁致伸縮材料之磁導率的變化,而由激磁線圈50及檢測線圈51來檢測。
在工具頭20測定將連結零件予以鎖固的扭力時,只要檢測出作用於工具頭的扭力即可。
為了檢測出作用於工具頭的扭力,是利用反磁致伸縮效應,但有必要將施加扭力所致之軸(被檢測部)表面的磁導率變化,換算成捲繞軸(被檢測部)之電磁線圈的阻抗變化,而作為橋式電路的非平衡電壓來檢測。
作用於軸(被檢測部)之表面的應力(應變)與軸(被檢測部)之直徑的關係是用以下的式來表示。As described above, in the torsion sensor 30, the change in the torque applied by the tool head 20 to the detected portion is used as the change in the magnetic permeability of the magnetostrictive material forming the tool head 20. Coil 51 to detect.
When the tool head 20 measures the torsional force to lock the connected parts, it is only necessary to detect the torsional force acting on the tool head.
In order to detect the torsional force acting on the tool head, the anti-magnetostrictive effect is used. However, it is necessary to convert the change in the magnetic permeability of the surface of the shaft (detected part) caused by the applied torque to the winding shaft (detected part). The impedance change of the electromagnetic coil is detected as the unbalanced voltage of the bridge circuit.
The relationship between the stress (strain) acting on the surface of the shaft (detected part) and the diameter of the shaft (detected part) is expressed by the following formula.
在此,σ是軸(被檢測部)表面的應力(應變),T是作用於軸(被檢測部)的扭力,D是軸(被檢測部)的直徑。
亦即,在對軸(被檢測部)之直徑不同的工具頭施加相同扭力的情況,軸(被檢測部)之直徑較小的工具頭那邊,軸(被檢測部)表面的應力(應變)會顯著變大。
軸(被檢測部)表面的應力(應變),會使軸(被檢測部)表面的磁導率變化。
磁導率的變化,是因應來自外部的力,而使以原子尺寸構成的微小磁鐵的朝向變化而藉此產生,但微小磁鐵的朝向全部統一的話就不會有進一步的變化(飽和狀態)。
為了精密地檢測出施加於工具頭(軸)的扭力,是在施加扭力的範圍內,使磁導率的變化成為線性為佳。Here, σ is the stress (strain) on the surface of the shaft (detected part), T is the torsional force acting on the shaft (detected part), and D is the diameter of the shaft (detected part).
That is, when the same torque is applied to tool heads with different diameters of the shaft (detected part), the stress (strain) on the surface of the shaft (detected part) side of the tool head with a smaller diameter of the shaft (detected part) ) Will grow significantly.
The stress (strain) on the surface of the shaft (detected part) changes the magnetic permeability of the surface of the shaft (detected part).
The change in the magnetic permeability is caused by the change in the orientation of the minute magnets made of atomic size in response to external forces. However, if all the orientations of the minute magnets are uniform, there will be no further change (saturated state).
In order to accurately detect the torque applied to the tool head (shaft), it is preferable to make the change of the magnetic permeability linear within the range of the applied torque.
微電腦60,是透過串列匯流排64,而在ADC61、溫度感測器62、實際時間計時器63、通訊模組65之間進行各種數位資料的收授。
通訊模組65,是在與PC之間進行資料的傳輸。
ROM66,是儲存有可由微電腦60讀取的補正值資料或校準資料。
資料輸入端子67,是設置成用來將程式或計數訊號輸入至微電腦60。The microcomputer 60 receives and receives various digital data between the ADC 61, the temperature sensor 62, the actual time timer 63, and the communication module 65 through the serial bus 64.
The communication module 65 transmits data to and from the PC.
The ROM 66 stores correction value data or calibration data that can be read by the microcomputer 60.
The data input terminal 67 is configured to input a program or a counting signal to the microcomputer 60.
於比較器54之一方的輸入端子,輸入有類比的扭力訊號,於另一方的輸入端子,輸入有來自基準電壓設定電路55的基準電壓(閾值),若扭力訊號超過基準電壓的話,如後述般,將測定觸發訊號輸出至微電腦60的P1端子。An analog torque signal is input to one of the input terminals of the comparator 54, and a reference voltage (threshold value) from the reference voltage setting circuit 55 is input to the other input terminal. If the torque signal exceeds the reference voltage, as described later , And output the measurement trigger signal to the P1 terminal of the microcomputer 60.
接著,參照圖6及圖7,針對扭力感測器30之電路的作用進行說明。又,圖6,是表示將複數個螺栓BT依序鎖固之際之扭力感測器30之動作的時序圖,圖7,是將圖6之最初的扭力測定之扭力感測器30的動作予以更加詳細地表示的時序圖。
上述的ADC61,例如以12位元所構成,若以1mv為1位元的話,可在0~4.096V的範圍輸出。在本實施形態,設定閾值Th,例如是由基準電壓設定電路55而初始設定在2.0V。
將圖5A所示的電源開關72如圖6的(1)所示般成為ON(導通狀態)時,重置訊號如圖6的(2)所示般從重置IC69輸入至微電腦60。
使用工具1來將流體控制裝置200之六角孔螺栓BT的一個予以鎖固,當扭力訊號(類比輸入)的電壓超過設定閾值Th時(圖7的(1)),從比較器54產生測定觸發訊號,並輸入至微電腦60的P1端子。
在微電腦60,當測定觸發訊號輸入至P1端子時,使測定記錄期間訊號(圖7的(4))成為ON。當測定記錄期間訊號成為ON時,微電腦60會開始扭力訊號之ADC61之數位輸出(圖7的(3))的記錄(取樣)。
在微電腦60,檢測出所讀取的數位輸出,並將此記憶(圖7的(5))。
當類比輸入低於設定閾值Th時,測定觸發訊號會成為OFF(圖7的(2)),而使扭力訊號之ADC61之數位輸出的記錄停止。若類比輸入低於設定閾值Th,且經過了事先設定的設定時間T1(例如0.5秒)的話,使測定記錄期間訊號成為OFF(圖7的(4))。藉此,一個螺栓BT之鎖固扭力的測定結束。
在圖7之例,數位輸出的峰值,是檢測出2993、3051、2989這3個。然後,在微電腦60,是檢測出3個峰值的最大值(3051)(圖7的(6))。在本實施形態,將該峰值的最大值當成扭力感測器30的鎖固結束扭力。
接著如後述般,形成含有該扭力之最大值的扭力相關資訊,將含有該最大值的扭力相關資訊儲存於記憶卡68,並通過通訊模組65送訊至PC300。Next, the function of the circuit of the torque sensor 30 will be described with reference to FIGS. 6 and 7. 6 is a timing chart showing the operation of the torque sensor 30 when the plurality of bolts BT are sequentially locked, and FIG. 7 is the operation of the torque sensor 30 that measures the initial torque of FIG. 6. The timing chart is shown in more detail.
The above-mentioned ADC61 is constituted by, for example, 12 bits, and if 1mv is used as 1 bit, it can output in the range of 0 to 4.096V. In the present embodiment, the threshold Th is set, for example, by the reference voltage setting circuit 55 and initially set to 2.0V.
When the power switch 72 shown in FIG. 5A is turned on (on) as shown in FIG. 6 (1), the reset signal is input from the reset IC 69 to the microcomputer 60 as shown in (2) of FIG.
Use tool 1 to lock one of the hexagon hole bolts BT of the fluid control device 200. When the voltage of the torque signal (analog input) exceeds the set threshold Th ((1) in FIG. 7), a measurement trigger is generated from the comparator 54 The signal is input to the P1 terminal of the microcomputer 60.
In the microcomputer 60, when a measurement trigger signal is input to the P1 terminal, the signal ((4) in FIG. 7) is turned on during the measurement recording. When the signal is ON during measurement and recording, the microcomputer 60 starts recording (sampling) of the digital output ((3) in FIG. 7) of the torque signal ADC61.
The microcomputer 60 detects the read digital output and memorizes it ((5) in FIG. 7).
When the analog input is lower than the set threshold Th, the measurement trigger signal will be OFF ((2) in Fig. 7), and the recording of the digital output of the torque signal ADC61 will stop. If the analog input is lower than the set threshold Th and a preset set time T1 (for example, 0.5 seconds) has elapsed, the signal in the measurement recording period is turned OFF ((4) in FIG. 7). Thereby, the measurement of the locking torque of one bolt BT is completed.
In the example of FIG. 7, three peaks of the digital output are detected: 2993, 3051, and 2989. Then, the microcomputer 60 detects the maximum value (3051) of three peaks ((6) in FIG. 7). In the present embodiment, the maximum value of the peak value is taken as the locking end torque of the torque sensor 30.
Then, as will be described later, torque-related information containing the maximum value of the torque is formed, and the torque-related information containing the maximum value is stored in the memory card 68 and sent to the PC 300 through the communication module 65.
回到圖6,對每次的鎖固作業檢測出扭力訊號的最大值(圖6的(3)、(4)),並檢測出各扭力訊號之測定時的溫度(圖6的(5)),而如(圖6的(7))所示般,形成扭力相關資料。具體來說,扭力相關資料,含有:測定時刻(測定日期時間)、將扭力訊號的最大值(峰值)換算成實際之扭力值的值、以及測定時的溫度。扭力相關資料,在電源關閉時,扭力值的資料是成為零,第1次是3.051N・m,第2次是3.015N・m,第3次是3.011N・m。Returning to FIG. 6, the maximum value of the torque signal is detected for each locking operation ((3), (4) in FIG. 6), and the temperature at the time of measuring each torque signal is detected ((5) in FIG. 6) ), And as shown in (7) of FIG. 6, torque-related data is formed. Specifically, the torque-related data includes a measurement time (measurement date and time), a value obtained by converting a maximum value (peak value) of the torque signal into an actual torque value, and a temperature during measurement. Torque-related data. When the power is turned off, the data of the torque value becomes zero. The first time is 3.051N · m, the second time is 3.015N · m, and the third time is 3.011N · m.
接著,針對PC300之處理的一例參照圖8進行說明。
在PC300,是經常監視著是否從扭力感測器30接收到扭力相關資料(步驟S1),當接收到的情況,從該扭力相關資料讀取出測定到扭力的測定時刻(日期時間)(步驟S2)。
PC300,具備將來自攝影機400A、400B的圖像予以記錄的圖片暫存器,鎖固作業的圖像是伴隨著作業的進行而記錄在PC300。搜索儲存於PC300的圖像資料,而抽出與步驟S2讀取到的時刻相對應之攝影機400A、400B各自拍攝到的圖像資料。亦即,該等2個圖像,是螺栓BT之鎖固結束時之工具的圖像。處理該等之圖像資料,而如圖9所示般,檢測出設在工具1的標記MKA與標記MKB之圖像的重心位置CGA、CGB,在連結重心位置CGA、CGB的直線上存在有工具頭20的前端座標20P。藉此,來輸出工具頭20的前端座標(步驟S5)。又,在本實施形態,標記MKA與標記MKB,是成為難以受到周圍環境影響的綠色。
接著,將所檢測出之工具頭20的前端座標、溫度資料、鎖固結束扭力值等的資料作對應關係並記錄於記憶裝置。藉此,可經常正確地追蹤流體控制裝置200之所有的螺栓BT之鎖固作業的有無、鎖固扭力等之作業資訊。Next, an example of the processing of the PC 300 will be described with reference to FIG. 8.
In PC300, it is constantly monitored whether or not torque-related data is received from the torque sensor 30 (step S1), and when it is received, the torque-related data is read from the torque-related measurement time (date and time) (step) S2).
The PC 300 is provided with a picture register for recording images from the cameras 400A and 400B, and images of the locking operation are recorded in the PC 300 as the work progresses. The image data stored in the PC 300 is searched, and the image data captured by the cameras 400A and 400B corresponding to the time read in step S2 are extracted. That is, the two images are images of the tool at the end of the locking of the bolt BT. These image data were processed, and as shown in FIG. 9, the center of gravity positions CGA and CGB of the image of the marker MKA and the marker MKB provided on the tool 1 were detected, and a line connecting the centers of gravity CGA and CGB existed The front end coordinate 20P of the tool head 20. As a result, the tip coordinates of the tool head 20 are output (step S5). In this embodiment, the marker MKA and the marker MKB are green colors that are hardly affected by the surrounding environment.
Next, the detected front-end coordinates of the tool head 20, temperature data, and the torque value at the end of locking are made into correspondence and recorded in the memory device. Thereby, the operation information such as the presence or absence of the locking operation of all the bolts BT of the fluid control device 200, the locking torque, and the like can be tracked frequently and accurately.
在本實施形態,是如上述般,隨時拍攝取得工具頭之前端座標用的圖像資料,並與此獨立地取得由扭力感測器30所取得的扭力相關資料。而且,將所取得的扭力相關資料和與此在時間上配合之從圖像資料取得之工具頭20的前端座標資料作關連對應,藉此可獲得正確的作業資訊。
例如,在工具所致之鎖固作業結束之後產生結束訊號,以該結束訊號為契機而開始工具的拍攝,將所拍攝的圖像資料予以處理來算出工具等之位置座標的話,在作業結束的時間點與算出工具等之位置座標的時間點之間會產生偏差,所算出的位置座標不一定是作業結束之時間點之工具等的位置座標。
在本發明,由於所算出之工具頭20的前端座標資料與所取得的扭力相關資料之間沒有時間上的差異,故可得到更正確的作業資料。In this embodiment, as described above, the image data for the front-end coordinates of the tool head is captured at any time, and the torque-related data acquired by the torque sensor 30 is acquired independently of this. Furthermore, the obtained torque-related data is correlated with the front-end coordinate data of the tool head 20 obtained from the image data in accordance with this time, thereby obtaining correct operation information.
For example, an end signal is generated after the end of the locking operation caused by the tool. The end signal is used as an opportunity to start the shooting of the tool, and the captured image data is processed to calculate the position coordinates of the tool. A deviation occurs between the time point and the time point when the position coordinates of the tool and the like are calculated, and the calculated position coordinates are not necessarily the position coordinates of the tool and the like at the time point when the operation is completed.
In the present invention, since there is no time difference between the calculated front-end coordinate data of the tool head 20 and the obtained torque-related data, more accurate operation data can be obtained.
於圖10表示本發明之其他實施形態的作業管理系統。
圖10所示的系統,是使PC300與攝影機400A、400B藉由通訊纜線CA、CB來連接。如此一來,可取代無線而以有線來取得工具1的圖像。FIG. 10 shows a work management system according to another embodiment of the present invention.
The system shown in FIG. 10 connects the PC 300 and the cameras 400A and 400B via communication cables CA and CB. In this way, the image of the tool 1 can be acquired by wired instead of wireless.
攝影機400A、400B的設置位置,在如上述實施形態般為2台的情況,是使攝影機400A的視角方向與攝影機400B的視角方向正交為佳。拍攝範圍,是在作業者開始作業之後,到流體控制裝置200之所有的六角孔螺栓(連結零件)的鎖固結束為止的期間,拍攝設在工具1的標記MKA與標記MKB即可。作業者的全身或氣體箱500、流體控制裝置200是沒有拍攝的必要。In the case where two cameras 400A and 400B are installed as in the above embodiment, the viewing direction of the camera 400A and the viewing direction of the camera 400B are preferably orthogonal. The imaging range is a period from when the operator starts the work until all the hexagonal bolts (connection parts) of the fluid control device 200 are locked, and the marks MKA and MKB provided on the tool 1 may be taken. The entire body of the operator, the gas tank 500, and the fluid control device 200 are not necessary for imaging.
在上述實施形態,雖將扭力訊號之峰值的最大值從工具1送訊至PC300,但本發明並不限定於此。例如,除了峰值的最大值以外,亦可將最初的峰值或最後的峰值當成鎖固結束扭力,亦可採用峰值的平均值。
且,在上述實施形態,是將鎖固扭力的測定資料記錄於工具1並送訊至PC300,但亦可不在工具1記錄,而是只進行測定資料的送訊,並在PC300進行記錄、峰值的檢測。In the above embodiment, although the maximum value of the peak value of the torque signal is transmitted from the tool 1 to the PC 300, the present invention is not limited to this. For example, in addition to the maximum value of the peak value, the first peak value or the last peak value may be regarded as the end-of-locking torque, and the average value of the peak values may also be used.
In addition, in the above embodiment, the measurement data of the locking torque is recorded in the tool 1 and transmitted to the PC300. However, instead of recording in the tool 1, the measurement data may be transmitted, and the recording and peak values may be recorded in the PC300. Detection.
在上述實施形態,是將所拍攝的圖像資料儲存於圖片暫存器,並從該圖片暫存器抽出必要的圖像資料,而藉由圖像處理來算出座標資料,但本發明並不限定於此。對所儲存的圖像資料進行逐次圖像處理而算出座標資料等,並將此依時序來儲存,並對該時序資料與扭力相關資料做關連對應亦可。In the above embodiment, the captured image data is stored in a picture register, necessary image data is extracted from the picture register, and coordinate data is calculated by image processing, but the present invention does not Limited to this. Sequential image processing is performed on the stored image data to calculate coordinate data, etc., and this is stored in time series, and the time series data and the torque-related data may be related to each other.
1‧‧‧起子(工具)1‧‧‧driver (tool)
10‧‧‧握把 10‧‧‧ Grip
11‧‧‧本體部 11‧‧‧Body
12‧‧‧工具頭保持部 12‧‧‧ Tool head holding section
12a‧‧‧保持孔 12a‧‧‧holding hole
13‧‧‧感測器安裝部 13‧‧‧Sensor mounting section
19‧‧‧補助棒 19‧‧‧ subsidy stick
20‧‧‧工具頭 20‧‧‧tool head
20P‧‧‧前端座標 20P‧‧‧front-end coordinates
21‧‧‧前端部 21‧‧‧ front end
22‧‧‧基端部 22‧‧‧ base end
23‧‧‧軸部 23‧‧‧ Shaft
24‧‧‧被檢測部 24‧‧‧Detected
30‧‧‧扭力感測器 30‧‧‧Torque sensor
31‧‧‧殼體部 31‧‧‧shell
32‧‧‧安裝部 32‧‧‧Mounting Department
33‧‧‧檢測部 33‧‧‧Testing Department
33a‧‧‧貫通孔 33a‧‧‧through hole
33b‧‧‧線圈保持部 33b‧‧‧coil holding unit
35‧‧‧電路收容部 35‧‧‧Circuit Containment Department
36‧‧‧線圈 36‧‧‧ Coil
39‧‧‧空洞 39‧‧‧ Hollow
50‧‧‧激磁線圈 50‧‧‧excitation coil
51‧‧‧檢測線圈 51‧‧‧detection coil
52‧‧‧類比電路 52‧‧‧ analog circuit
53、70‧‧‧DC、DC轉換器 53, 70‧‧‧ DC, DC converter
54‧‧‧比較器 54‧‧‧ Comparator
55‧‧‧基準電壓設定電路 55‧‧‧reference voltage setting circuit
60‧‧‧微型電腦(微電腦) 60‧‧‧Microcomputer (microcomputer)
61‧‧‧類比-數位轉換器(ADC) 61‧‧‧Analog-to-Digital Converter (ADC)
62‧‧‧溫度感測器 62‧‧‧Temperature Sensor
63‧‧‧實際時間計時器 63‧‧‧ Real time timer
64‧‧‧串列匯流排 64‧‧‧Serial bus
65‧‧‧通訊模組 65‧‧‧communication module
66‧‧‧ROM 66‧‧‧ROM
67‧‧‧資料輸入端子 67‧‧‧Data input terminal
68‧‧‧記憶卡 68‧‧‧Memory card
69‧‧‧重置IC 69‧‧‧Reset IC
71‧‧‧校準開關 71‧‧‧calibration switch
72‧‧‧電源開關 72‧‧‧ Power Switch
73‧‧‧電池 73‧‧‧ Battery
74‧‧‧充電控制電路 74‧‧‧Charge control circuit
75‧‧‧充電連接器 75‧‧‧Charging connector
110‧‧‧振盪電路 110‧‧‧Oscillation circuit
120‧‧‧緩衝放大器 120‧‧‧ buffer amplifier
130‧‧‧相位調整電路 130‧‧‧phase adjustment circuit
140‧‧‧V-I轉換器 140‧‧‧V-I converter
160‧‧‧逆變器 160‧‧‧ Inverter
170‧‧‧同步檢波電路 170‧‧‧Synchronous detection circuit
180‧‧‧反相放大器 180‧‧‧ Inverting Amplifier
200‧‧‧流體控制裝置 200‧‧‧ fluid control device
210、220、230、240、250、280‧‧‧流體機器 210, 220, 230, 240, 250, 280‧‧‧ fluid machines
260、270‧‧‧接頭塊 260, 270‧‧‧ connector block
300‧‧‧PC(處理裝置) 300‧‧‧PC (processing device)
400A、400B‧‧‧攝影機(拍攝裝置) 400A, 400B‧‧‧Camera (shooting device)
500‧‧‧氣體箱 500‧‧‧Gas tank
500b‧‧‧底面 500b‧‧‧ underside
BS‧‧‧基座板金 BS‧‧‧base plate
BT‧‧‧六角孔螺栓 BT‧‧‧Hexagon hole bolt
CA、CB‧‧‧通訊纜線 CA, CB‧‧‧communication cable
CGA、CGB‧‧‧重心位置 CGA, CGB
MKA、MKB‧‧‧標記 MKA, MKB‧‧‧ mark
SG‧‧‧扭力訊號 SG‧‧‧Torque signal
T1‧‧‧設定時間 T1‧‧‧ set time
Th‧‧‧設定閾值 Th‧‧‧ set threshold
圖1為本發明之一實施形態之作業管理系統的外觀立體圖。FIG. 1 is an external perspective view of a work management system according to an embodiment of the present invention.
圖2為表示流體控制裝置之一例的外觀立體圖。 FIG. 2 is an external perspective view showing an example of a fluid control device.
圖3為圖2之流體控制裝置的側視圖。 FIG. 3 is a side view of the fluid control device of FIG. 2.
圖4A為本發明之一實施形態之工具的外觀立體圖。 FIG. 4A is an external perspective view of a tool according to an embodiment of the present invention.
圖4B為握把部的外觀立體圖。 FIG. 4B is an external perspective view of the grip portion.
圖4C為工具頭的外觀立體圖。 FIG. 4C is an external perspective view of the tool head.
圖4D為工具之扭力感測器部分的縱剖面圖。 FIG. 4D is a longitudinal sectional view of a torque sensor portion of the tool.
圖5A為扭力感測器的電路圖。 FIG. 5A is a circuit diagram of a torque sensor.
圖5B為扭力感測器之類比電路部分的功能方塊圖。 FIG. 5B is a functional block diagram of an analog circuit portion of a torque sensor.
圖6為表示實施複數次鎖固作業之際的扭力感測器之處理之一例的時序圖。 6 is a timing chart showing an example of processing of a torque sensor when a plurality of locking operations are performed.
圖7為表示1次鎖固作業之扭力感測器之各種訊號之一例的時序圖。 FIG. 7 is a timing chart showing an example of various signals of a torque sensor for one locking operation.
圖8為表示處理裝置之處理之一例的流程圖。 FIG. 8 is a flowchart showing an example of processing by a processing device.
圖9為由圖像處理來檢測出工具頭前端位置之方法的說明圖。 FIG. 9 is an explanatory diagram of a method for detecting a tip position of a tool head by image processing.
圖10為本發明之其他實施形態之作業管理系統的外觀立體圖。 FIG. 10 is an external perspective view of a work management system according to another embodiment of the present invention.
Claims (7)
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JP2017-236253 | 2017-12-08 | ||
JP2017236253 | 2017-12-08 |
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US (1) | US11586175B2 (en) |
JP (1) | JP7228197B2 (en) |
KR (1) | KR102393070B1 (en) |
CN (1) | CN111448035B (en) |
IL (1) | IL274853A (en) |
SG (1) | SG11202005033UA (en) |
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WO (1) | WO2019111846A1 (en) |
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JP7274988B2 (en) | 2019-09-04 | 2023-05-17 | 共和産業株式会社 | Vehicle sun visor with card holder |
TWI709463B (en) * | 2019-12-10 | 2020-11-11 | 國立勤益科技大學 | Use control icons to perform statistical analysis of numerical data with smart tools. Abnormal warnings and out of control feedback correction methods |
JP7491730B2 (en) * | 2020-04-30 | 2024-05-28 | 株式会社トプコン | Work management system, work management method, and work management program therefor |
JP7450226B2 (en) * | 2021-02-19 | 2024-03-15 | パナソニックIpマネジメント株式会社 | power tool system |
CN113567034A (en) * | 2021-07-12 | 2021-10-29 | 中国铁路北京局集团有限公司天津供电段 | Contact net maintenance quality monitoring system |
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Also Published As
Publication number | Publication date |
---|---|
US11586175B2 (en) | 2023-02-21 |
JP7228197B2 (en) | 2023-02-24 |
KR20200087253A (en) | 2020-07-20 |
KR102393070B1 (en) | 2022-05-03 |
SG11202005033UA (en) | 2020-06-29 |
TW201927484A (en) | 2019-07-16 |
IL274853A (en) | 2020-07-30 |
WO2019111846A1 (en) | 2019-06-13 |
CN111448035B (en) | 2022-11-25 |
JPWO2019111846A1 (en) | 2020-12-03 |
US20200301401A1 (en) | 2020-09-24 |
CN111448035A (en) | 2020-07-24 |
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